U.S. patent application number 15/414101 was filed with the patent office on 2017-05-11 for unmanned aerial vehicle base station system and method.
The applicant listed for this patent is SZ DJI TECHNOLOGY CO., LTD.. Invention is credited to Hongju LI, Yuan LIN, Mingxi WANG.
Application Number | 20170129464 15/414101 |
Document ID | / |
Family ID | 55216656 |
Filed Date | 2017-05-11 |
United States Patent
Application |
20170129464 |
Kind Code |
A1 |
WANG; Mingxi ; et
al. |
May 11, 2017 |
UNMANNED AERIAL VEHICLE BASE STATION SYSTEM AND METHOD
Abstract
A unmanned aerial vehicle (UAV) base station for automated
battery pack exchange and methods for manufacturing and using the
same. The UAV base station includes a battery-exchange system
disposed within a housing having a top-plate. The housing contains
a battery array having a plurality of UAV battery packs and a
mechanical mechanism for automatically removing an expended battery
pack from a UAV that lands on the top-plate and replacing the
expended battery pack with a charged battery pack. Thereby, the UAV
base station system advantageously enables extended and autonomous
operation of the UAV without the need for user intervention for
exchanging UAV battery packs.
Inventors: |
WANG; Mingxi; (SHENZHEN,
CN) ; LIN; Yuan; (SHENZHEN, CN) ; LI;
Hongju; (SHENZHEN, CN) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
SZ DJI TECHNOLOGY CO., LTD. |
Shenzhen |
|
CN |
|
|
Family ID: |
55216656 |
Appl. No.: |
15/414101 |
Filed: |
January 24, 2017 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
PCT/CN2014/083465 |
Jul 31, 2014 |
|
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15414101 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B64C 2201/042 20130101;
B60L 53/80 20190201; H02J 7/0045 20130101; B64C 2201/027 20130101;
B64C 2201/182 20130101; Y02T 10/70 20130101; B64C 2201/201
20130101; B64C 39/024 20130101; Y02T 10/7072 20130101 |
International
Class: |
B60S 5/06 20060101
B60S005/06; B64C 39/02 20060101 B64C039/02 |
Claims
1. An unmanned aerial vehicle (UAV) base station comprising: a
landing surface for enabling a UAV having UAV battery pack to land
on the landing surface; and a battery-exchange system comprising: a
battery-matrix comprising a plurality of battery-slots, each
configured to removably hold a UAV battery pack; and a mechanical
mechanism configured to move along at least two axes to interact
with a selected UAV battery pack of the battery-exchange system and
the UAV battery pack of the UAV.
2. The unmanned aerial vehicle base station of claim 1, wherein the
mechanical mechanism is configured to: move along an X-axis and
Y-axis to the selected UAV battery pack disposed in a selected
battery-slot; extend a battery-carriage along a Z-axis and grasp
the selected UAV battery pack; retract the battery carriage along
the Z-axis to remove the selected UAV battery pack from the
battery-slot; and move the selected UAV battery pack proximate to
the UAV and insert the selected UAV battery pack into a UAV
battery-slot disposed on the UAV and decouple from the selected UAV
battery pack.
3. The unmanned aerial vehicle base station of claim 1, wherein the
plurality of battery-slots are arranged in a two-dimensional array
having a plurality of rows and columns.
4. The unmanned aerial vehicle base station of claim 1, wherein the
battery-exchange system is disposed within a housing cavity defined
by a housing that at least comprises a top-plate configured for a
UAV to land on the top-plate, wherein the housing comprises a
top-plate cover configured to removably cover the top-plate.
5. The unmanned aerial vehicle base station of claim 4, wherein the
housing further comprises a draw bar and wheels.
6. The unmanned aerial vehicle base station of claim 4, wherein the
top-plate comprises a hatch and wherein the mechanical mechanism is
configured to extend a battery pack through the hatch from within
the housing cavity to a battery-swapping position above the
top-plate, wherein the top-plate comprises at least one hatch-door
operable to cover the hatch when the mechanical mechanism is not
extended through the hatch.
7. The unmanned aerial vehicle base station of claim 4, further
comprising a UAV fixation system configured to direct the UAV
present on the top-plate to a battery-exchange zone of the
top-plate.
8. The unmanned aerial vehicle se station of claim 7, wherein the
UAV fixation system comprises a first fixation arm and second
fixation arm configured to respectively translate along respective
perpendicular axes, wherein the UAV fixation system is configured
to operate automatically without user interaction.
9. The unmanned aerial vehicle base station of claim 8, wherein the
first and second fixation arms extend substantially perpendicularly
to their respective translation axes.
10. The unmanned aerial vehicle base station of claim 8, wherein
the first and second fixation arms are actuated by respective
fixation-arm-actuation systems disposed within the housing
cavity.
11. The unmanned aerial vehicle base station of claim 1, wherein
the mechanical mechanism is further configured to: move proximate
to the UAV having the UAV battery pack disposed in a UAV
battery-slot of UAV; grasp the UAV battery pack disposed in the UAV
battery-slot; retractably remove the UAV battery pack from the UAV
battery-slot; move along a X-axis and Y-axis to a selected UAV
battery-slot; and extend a battery-carriage along a Z-axis to
insert the UAV battery pack in the selected UAV battery-slot.
12. The unmanned aerial vehicle base station of claim 1, wherein
the mechanical mechanism system comprises a base-cart configured to
translate linearly alone an X-axis on at least one base-rail.
13. The unmanned aerial vehicle base station of claim 1, wherein
the mechanical mechanism system comprises: an elevator-carriage
configured to translate linearly along a Y-axis on at least one
elevator-rail that extends from the base-cart; and a
battery-carriage coupled with the elevator-carriage.
14. An unmanned aerial vehicle (UAV) base station comprising: a
housing that at least includes a top-plate configured for a UAV to
land on the top-plate; and a UAV fixation system configured to
direct the UAV present on the top-plate to a battery-exchange zone
of the top-plate.
15. The unmanned aerial vehicle base station of claim 14, wherein
the UAV fixation system comprises a first fixation arm and a second
fixation arm configured to respectively translate along respective
perpendicular axes.
16. The unmanned aerial vehicle base station of claim 15, wherein
the first and second fixation arms extend perpendicularly to their
respective translation axes.
17. The unmanned aerial vehicle base station of claims 14, wherein
the top-plate comprises a hatch and wherein a mechanical mechanism
is configured to extend a battery pack through the hatch from
within a housing cavity to a battery-swapping position above the
top-plate proximate to the battery-exchange zone of the
top-plate.
18. A portable unmanned aerial vehicle (UAV) base station
comprising: a battery-exchange system comprising: a battery-matrix
comprising a plurality of battery-slots, each configured to
removably hold a UAV battery pack; and a mechanical mechanism
configured to interact with the UAV battery pack; a housing that at
least comprises a top-plate configured for a UAV to land on the
top-plate; and a UAV fixation system configured to direct the UAV
present on the top-plate to a battery-exchange zone of the
top-plate.
19. The portable unmanned aerial vehicle base station of claim 18,
wherein the housing further comprises a top-plate cover configured
to removably cover the top-plate.
20. The portable unmanned aerial vehicle base station of claim 18,
wherein the housing further comprises a draw bar and wheels.
Description
CROSS-REFERENCE TO RELATED APPLICATION
[0001] This is a continuation application of International
Application No. PCT/CN2014/083465, filed on Jul. 31, 2014, the
entire contents of which are incorporated herein by reference.
FIELD
[0002] The present disclosure relates generally to unmanned aerial
vehicles (UAVs) and more specifically, but not exclusively, to UAV
base stations and methods related thereto.
BACKGROUND
[0003] Conventional unmanned aerial vehicles (UAVs) have limited
flight time because their battery life is often limited to ten to
thirty minutes at the most. When a battery is expended, the UAV
needs to land, and the expended battery needs to be exchanged by a
user or recharged before the UAV can operate again.
[0004] The necessity for frequent user interaction to maintain and
exchange batteries of one or more UAVs is not suitable where
extended duty times are required or where extended autonomous
operation is desired for a fleet of UAVs.
[0005] In view of the foregoing, a need exists for an improved UAV
base station system and method for autonomous exchange of UAV
batteries in an effort to overcome the aforementioned obstacles and
deficiencies of conventional UAV systems.
SUMMARY
[0006] In accordance with the present disclosure, there is provided
an unmanned aerial vehicle (UAV) base station includes a landing
surface for enabling a UAV having a UAV battery pack to land on the
landing surface and a battery-exchange system including a
battery-matrix and a mechanical mechanism. The battery-matrix
includes a plurality of battery-slots, each of which is configured
to removably hold a UAV battery pack. The mechanical mechanism is
configured to interact with a selected UAV battery pack of the
battery-exchange system and the UAV battery pack of the UAV.
[0007] Also in accordance with the present disclosure, there is
provided a method of inserting a UAV battery pack into a UAV. The
method includes a mechanical mechanism moving along an X-axis and
Y-axis to the UAV battery pack disposed in a selected battery-slot,
the mechanical mechanism extending a battery-carriage along a
Z-axis and grasping the UAV battery pack, the mechanical mechanism
retracting the battery-carriage along the Z-axis to remove the UAV
battery pack from the battery-slot, and the mechanical mechanism
moving the UAV battery pack proximate to the UAV and inserting the
UAV battery pack into a UAV battery-slot disposed on the UAV and
decoupling from the UAV battery pack.
[0008] Also in accordance with the present disclosure, there is
provided a method of removing a UAV battery pack from a UAV and
storing the UAV battery pack. The method includes a mechanical
mechanism moving proximate to the UAV having the UAV battery pack
disposed in a UAV battery-slot of the UAV, the mechanical mechanism
grasping the UAV battery pack disposed in the UAV battery-slot, the
mechanical mechanism retractably removing the UAV battery pack from
the UAV battery-slot, the mechanical mechanism moving along an
X-axis and Y-axis to a selected UAV battery-slot, and the
mechanical mechanism extending the battery-carriage along a Z-axis
to insert the UAV battery pack in the selected UAV
battery-slot.
[0009] Also in accordance with the present disclosure, there is
provided a UAV base station including a housing and a UAV fixation
system. The housing at least includes a top-plate configured for a
UAV to land on the top-plate. The UAV fixation system is configured
to direct the UAV present on the top-plate to a battery-exchange
zone of the top-plate.
[0010] Also in accordance with the present disclosure, there is
provided a portable UAV base station including a battery-exchange
system including a battery-matrix and a mechanical mechanism, a
housing, and a UAV fixation system. The battery-matrix includes a
plurality of battery-slots, each of which is configured to
removably hold a UAV battery pack. The mechanical mechanism is
configured to interact with the UAV battery pack. The housing at
least includes a top-plate configured for a UAV to land on the
top-plate. The UAV fixation system is configured to direct the UAV
preset on the top-plate to a battery-exchange zone of the
top-plate.
BRIEF DESCRIPTION OF THE DRAWINGS
[0011] FIGS. 1 and 2 are exemplary perspective drawings
illustrating an internal portion of an embodiment of a base station
for unmanned aerial vehicles (UAVs).
[0012] FIG. 3 is an exemplary perspective drawing illustrating an
external portion of the embodiment of the UAV base station of FIGS.
1 and 2.
[0013] FIG. 4 is an exemplary perspective drawing illustrating an
embodiment of a UAV base station of FIG. 3, wherein the UAV base
station includes a UAV docked thereon.
[0014] FIG. 5 is a close-up perspective drawing illustrating
portions of the UAV base station and the UAV of FIG. 4.
[0015] FIGS. 6a-c are perspective drawings illustrating another
embodiment the UAV base station, wherein the UAV base station
includes a lid, draw bar and/or wheels.
[0016] FIG. 7 is a perspective drawing illustrating an embodiment
of the UAV base station of FIGS. 6a-c, wherein the UAV base station
includes a UAV docked thereon.
[0017] FIG. 8 is a block diagram of a method for inserting a UAV
battery pack into a UAV in accordance with an embodiment.
[0018] FIG. 9 is a block diagram of a method for removing, a UAV
battery pack from a UAV and storing the UAV battery pack in
accordance with an embodiment.
[0019] It should be noted that the figures are not drawn to scale
and that elements of similar structures or functions are generally
represented by like reference numerals for illustrative purposes
throughout the figures. It also should be noted that the figures
are only intended to facilitate the description of the exemplary
embodiments. The figures do not illustrate every aspect of the
described embodiments and do not limit the scope of the present
disclosure.
DETAILED DESCRIPTION OF THE EMBODIMENTS
[0020] Since currently-available unmanned aerial vehicles (UAV)
systems are deficient because they fail to provide extended battery
life and fail to support battery swapping and recharging, a UAV
base station that provides autonomous battery swapping can prove
desirable and provide a basis for a wide range of UAV applications,
such as the ability for UAV systems to perform longer autonomous
missions. This result can be achieved, according to one embodiment
disclosed herein, by a UAV base station 100 as illustrated in FIG.
1.
[0021] Turning to FIGS. 1 and 2, the UAV base station 100 is shown
as having a housing 105 that comprises a plurality of sidewalls 106
and a base 107. The sidewalls 106 and the base 107 cooperatively
define a housing cavity 108 in which a plurality of components can
disposed including a battery-exchange system 109. The
battery-exchange system 109 comprises a battery-holder 110 that
includes a battery-matrix 111 that is offset from the base 107 by
legs 112.
[0022] The battery-matrix 111 forms a plurality of battery-slots
115 that are each configured to hold a battery-pack 120. For
example, as depicted in FIG. 1, the battery-matrix 111 comprises
two stacked rows of battery-slots 115, where each row comprises
four battery-slots 115. Although a specific configuration of a
battery-matrix 111 is shown and described with reference to FIGS. 1
and 2, for purposes of illustration only, any suitable arrangement
of a battery-matrix 111 may be provided. The battery matrix 111 can
include any suitable number of battery-slots 115. The number can
depend on the number of UAVs, charging time of a battery pack 120,
desired mission time, or the like. For example, some embodiments
may include fewer battery-slots 115 or may include many more
battery-slots 115. Battery-slots 115 may have any suitable size
and/or shape based on the type of battery-pack 120 for being held
therewithin, and, in some embodiments, a battery-matrix 111 may be
configured to hold a plurality of uniform and/or different battery
pack types, which may include different shapes, cross sections,
voltages, currents, or the like. In some embodiments, there may be
any suitable number of rows and/or columns in a battery-matrix 111,
and further embodiments may include battery-slots 115 in any other
suitable regular or note-regular configuration, that may or may not
include rows or columns. In some embodiments, there may be a
plurality of battery-matrices 111, or a battery-matrix 111 may be
three dimensional compared to the two dimensional arrangement
depicted herein (i.e., a first dimension of rows, and a second
dimension of columns).
[0023] The battery-exchange system 109 of FIGS. 1 and 2 further is
shown comprising a mechanical mechanism, such as robotic arm system
125, that is configured to selectively remove batteries 120 from
respective battery-slots 115, insert batteries 120 into respective
battery-slots 115, and/or remove or couple batteries with a UAV 400
(shown in FIG. 7) as discussed in further detail herein. The
embodiment depicted herein includes a Cartesian robotic arm with
three degrees of freedom.
[0024] For example, the robotic arm system 125 can include a
base-cart 130 that is configured to translate linearly along a pair
of base-rails 131 via an X-motor 132 and rotating X-shaft 133 that
drives movement of the base-cart 130 along an X-axis. The robotic
arm system 125 of FIGS. 1 and 2 also is shown as further comprising
an elevator-carriage 135 that is configured to translate linearly
on elevator-rails 236 via a Y-motor 237 and rotating Y-shaft 238
that drives movement of the elevator-carriage 135 along a Y-axis.
The elevator-rails 236 extend from and move with the base-cart
130.
[0025] As shown in FIGS. 1 and 2, the robotic arm system 125 can
comprise a battery-carriage 140 that is coupled with the
elevator-carriage 135 and configured to translate linearly via a
Z-motor 141 and rotating Z-shaft 142 that drives movement of the
battery-carriage 140 along a Z-axis. The battery-carriage 140 can
also include a battery-grabber 143 that is operable to couple with
an end region 121 of a selected battery-pack 120 so that batteries
120 can be selectively moved and distributed by the robotic arm
system 125. The battery-grabber 143 comprises a pair of
grabber-arms 144 that are configured to grab the end region 121 of
batteries 120 and pull the selected battery pack 120 out of the
relevant battery-slots 115, or to insert the selected battery pack
120 into the battery-slots 115 and/or release the battery packs
120.
[0026] Although FIGS. 1 and 2 depict a battery-carriage 140 that
holds a single battery pack 120, in some embodiments, a
battery-carriage 140 may be configured to hold a plurality of
battery packs 120. For example, it may be desirable to remove an
expended battery pack 120 from a UAV 400 and provide a new (or
charged) battery pack 120 to the UAV 400 in a single transaction.
Accordingly, in some embodiments, the battery-carriage 140 may be
configured to remove and hold the expended battery pack and also to
hold a charged battery pack 120 to replace the removed battery pack
120 without an intermittent retrieval of a new battery pack 120
from within the housing 105.
[0027] Additionally, some embodiments include one or more
fixation-arm-actuation systems 145 155 are disposed within the
housing cavity 108 on respective sidewalls 106. As depicted in
FIGS. 3 and 4 and as discussed herein the fixation-arm-actuation
systems 145, 155 may be used to move a UAV 400 to a position on the
housing 105 where battery packs 120 can be exchanged.
[0028] The fixation-arm-actuation system 145 comprises a
fixation-carriage 146 that is operable to translate on a first
fixation-rail 147 via a fixation-motor 148 and fixation-rail 149.
The fixation-motor 148 rotates the first fixation-shaft 149, which
in turn moves the fixation-carriage 146 along the fixation-rail
149.
[0029] Additionally or alternatively, the fixation-arm-actuation
system 155 comprises a fixation-carriage 156 that is operable to
translate on a fixation-rail 157 via a fixation-motor 158 and
fixation-rail 159. The fixation-motor 158 rotates the
fixation-shaft 159, which in turn moves the fixation-carriage 156
along the fixation-rail 159.
[0030] Although two fixation-arm-actuation systems 145, 155 are
depicted in FIGS. 1 and 2, in further embodiments, there may be one
or any suitable plurality of fixation-arm-actuation systems 145,
155 disposed in any suitable location and on other portions of the
housing 105.
[0031] As depicted in FIGS. 3 and 4, first and second fixation arm
310, 320 extend through respective slots 312, 322 that are defined
by a top-plate 308 that further defines the housing 105. The first
and second fixation arm 310, 320 are coupled with respective
fixation-carriages 146, 156 (FIGS. 1 and 2) of the
fixation-arm-actuation systems 145, 155 shown in FIGS. 1 and 2.
These components collectively define a UAV fixation system 300.
[0032] In various embodiments, the UAV fixation system 300 may be
operable to direct a UAV 400 disposed on the top-plate 308 to a
battery pack exchange zone 340 of the top-plate 308 as shown in
FIG. 3. FIG. 4 depicts the UAV 400 disposed in the exchange, zone
340. Having a UAV fixation system 300 may be advantageous in
various embodiments because the UAV fixation system 300 may provide
for low accuracy landing of a UAV 400 on the top-plate 308 while
subsequently providing for fast movement to the battery pack
exchange zone 340. The UAV battery-pack 120 thereby can be
exchanged via the battery pack exchange system 109 (shown in FIGS.
1 and 2). In various embodiments, a UAV fixation system 300 may
provide for faster landing of the UAV 400 and faster battery pack
exchange compared to requiring precise landing of the UAV 400 in
the battery pack exchange zone 340, which may take more time
compared to a low accuracy landing and subsequent positioning; with
the UAV fixation system 300.
[0033] In further embodiments, the UAV fixation system 300 may
comprise one or more fixation arm 310, 320 that is operable to move
one or more UAV 400 disposed on the top-plate 308 to one or more
battery pack exchange zone 340. For example, the UAV base station
100 may comprise a plurality of battery pack exchange zones 340
(e.g., at four corners of the top-plate 308) and the UAV fixation
system 300 may be operable to move UAVs 400 that land on the
top-plate 308 to any of these battery pack exchange zones 340. The
UAV base station 100 may therefore be operable to accommodate a
plurality of UAVs 400 simultaneously on the top plate 308). In a
further embodiment, the UAV fixation system 300 may be configured
to queue a plurality of UAVs proximate to a battery pack exchange
zone 340.
[0034] As illustrated in FIG. 3, the first fixation arm 310 is
operable to tray slate along axis P, and the second fixation arm
320 physically extends in a direction that is substantially
perpendicular to the axis P. A first end region 311 of the first
fixation arm 310 extends through slots 312 and is coupled to the
first, fixation-arm-actuating system 145 disposed in the housing,
cavity 108 (shown in FIGS. 1 and 2). A second end region 313 of the
first fixation arm 310 may abut or slidably reside within a slot
314A of a first fixation rim 314.
[0035] Similarly, the second fixation arm 320 is operable to
translate along an axis Q, and the second fixation arm 320 extends
in a direction that is substantially perpendicular to the axis Q. A
first end region 321 of the second fixation arm 320 extends through
slots 322 and is coupled to the second fixation-arm-actuating
system 155 disposed in the housing cavity 108 (FIGS. 1 and 2). A
second fixation rim 324 may be positioned proximate to the first
end region 321.
[0036] The LANs fixation system 300 may initiate operation by
determining that a selected UAV 400 has landed on the top-plate
308. For example, the first and second fixation arms 310, 320 may
begin in al riding configuration, positioned at a distal-most
position opposing the battery pack exchange zone 340, and a
determination is made that the UAV 400 has landed within the area
defined by the first and second fixation arms 310, 320 and the
first and second fixation rims, 314 324. The first and second
fixation anus 310, 320 can then move toward the battery pack
exchange zone 340 and thereby physically contact and guide the UAV
400 to the battery pack exchange zone 340 as depicted in FIG. 4.
The first and second fixation rims, 314, 324 also serve as guides
for moving the UAV 400 in the battery pack exchange zone 340. In
various embodiments, the UAV 400 may be held in the battery pack
exchange zone 340 by the first and second fixation arms 310, 320
and/or the first and second fixation rims, 314, 324.
[0037] As shown in FIGS. 4 and 5, the top-plate 308 may define a
hatch 405, which is an opening formed in the top-plate 308. The
hatch 405 extends into and provides access between the housing
cavity 108 and a portion of the housing 105 above the top-plate
308. First and second hatch covers 330A, 330B can cover the hatch
405. For example, FIG. 3 depicts the hatch covers 330 in a closed
configuration, and FIGS. 4 and 5 depict the hatch covers 330 in an
open configuration.
[0038] In various embodiments, the hatch doors 330 may be biased
toward the closed configuration and may be pushed open by the
robotic arm system 125. As shown in FIG. 5. hatch-door actuators
505 may be rods positioned on the elevator-carriage 135 (FIGS. 1
and 2) for opening hatch doors 330. For example, returning to FIGS.
1 and 2, after pulling the selected battery-pack 120 out of a
battery-slot 115 and positioning the battery-pack 120 on the
battery-carriage 140, the robotic arm system 125 may move under the
hatch 405 as shown in FIGS. 4 and 5). The elevator-carriage 135 may
then extend upward toward the hatch 405 with the hatch-door
actuators 505 contacting the hatch doors 330 and moving the hatch
doors 330 to the open configuration as the elevator-carriage 135
extends upward.
[0039] As illustrated in FIGS. 4 and 5, a portion of the robotic
arm system 125 may extend through the hatch 405 to facilitate
battery pack exchange with the UAV 400 that is disposed on the
top-plate 308. For example, in one aspect of the battery pack
exchange, the battery carriage 140 may be empty while extending
through the hatch 405 and then the battery carriage 140 may extend
toward and grasp a discharged battery-pack 120 that is disposed in
the battery-slot 510 of the UAV 400. In another aspect of battery
pack exchange, the battery carriage 140 may have a charged
battery-pack 120 disposed thereon while extending through the hatch
405 and then the battery carriage 140 may extend toward an empty
UAV battery-slot 510 of the UAV 400 and load the charged
battery-pack 120 into the UAV battery-slot 510. Accordingly, FIGS.
4 and 5 may depict a battery-pack 120 being loaded onto the UAV 400
and/or may depict a battery-pack 120 being removed from the UAV
400.
[0040] The battery-exchange system 109 and UAV fixation system 300
described herein can be used in a UAV base station 100 (shown in
FIGS. 1 and 2) of various sizes and shapes. For example, in some
embodiments, the UAV base station 100 may be as large as a building
and may comprise a one or more battery-exchange systems 109 and/or
UAV fixation systems 300. However, in some embodiments, the
battery-exchange system 109 and UAV fixation system 300 described
herein may be adapted for compact and portable UAV base stations
100 such as the embodiment 100B depicted in FIGS. 6a-c and FIG.
7.
[0041] Turning to FIGS. 6a-c and FIG. 7, in such an embodiment
100B, the housing 105 may be the size and dimensions of
conventional luggage and components of the UAV base station 100 may
be light weight. The housing 105 may also comprise a top-plate
cover 605 that is configured to removably cover the top-plate 308.
The top-plate cover 605 can be rotatable coupled to the housing 105
as depicted in FIGS. 6a-c and FIG. 7, but a top-plate cover 605 may
alternatively be completely removable, comprise a plurality of
portions, or have any other suitable configuration for selectively
covering the top-plate 308. The top-plate cover 605 may also
include a latch 610 for securing the top-plate cover 605 in a
closed configuration.
[0042] Additionally, the housing 105 may comprise an extendible
draw-bar 615 along with wheels 620 and/or legs 625 that provide for
further enhanced portability of the base station 100B. For example,
the base station 100B may be transported by holding the extended
draw-bar 615 and rolling the housing 105 along the ground via the
wheels 620 or carrying the base station 100B via the draw-bar 615.
A light-weight and portable base station 100B may be advantageous
because the base station 100B can be more easily transported via
conventional transportation and/or can be setup to support UAVs 400
in locations where larger and heavier base stations 100 might be
impractical. For example, the example embodiment base station 100B
may be transported in a conventional vehicle to a desired location
and setup on the top of the vehicle (not shown), in a truck-bed of
the vehicle, or the like.
[0043] As discussed herein, a UAV base station 100 may support one
or more UAV 400 (shown in FIG. 4). For example, the
battery-exchange system 109 may provide for the automated exchange
of batteries 120 (shown in FIGS. 1 and 2), without ser interaction,
for one or more UAV 400 such that the one or tore UAV 400 may
remain powered and operable for extended periods of time with no or
limited user interaction. Accordingly, in addition to including one
or more battery-pack 120 configured for exchange in one or more UAV
400, the UAV base station 100 may also include a separate power
supply (not shown) for charging the one or more batteries 120 that
may be present in the UAV base station 100 and/or for powering
various components of the UAV base station 100. Such a power supply
may comprise any conventional type of power supply, such a battery,
a generator, a solar cell, a connection to a power grid, or the
like. Accordingly, in various embodiments, the battery-matrix 110
and one or more of the battery-slots 115 may be configured to
charge one or more battery back 120
[0044] The UAV base station 100 may also support one or more UAV
400 in various other Ways. For example, the UAV base station 100
may be operably connected to the UAV 400 via a wired or wireless
connection, such that the UAV 400 may communicate with the base
station 100 or the UAV 400 may be operable to communicate via a
larger network such as the Internet, a satellite network, or the
like. In one embodiment, the UAV may wirelessly communicate with
one or more UAV 400 via a local wireless network such as Wide
Fidelity (WiFi) network, and the base station 100 may be operably
connected to the Internet or other suitable network.
[0045] Such connectivity may be desirable so that the UAV 400 may
provide data to remote operators, including position data, audio
data, image data, temperature data, thermal data, radiological
data, RaDAR data, LiDAR data, and/or the like. Such connectivity
may also allow a user to remotely operate or otherwise program or
provide instructions to a UAV 400 or base station 100.
[0046] The UAV base station 100 may also include other sensors,
which may be operable to provide data to one or more UAVs 400 or to
remote operations. For example, the UAV base station 100 may also
comprise a GPS unit, compass, accelerometer, RaDAR system, LiDAR
system, and/or the like. Additionally, in various embodiments, the
UAV base station 100 may be configured to store one or more UAV 400
within the housing cavity 108, or other portion of the housing
105.
[0047] In addition to providing for the exchange of batteries 120,
the UAV base station 100 may be advantageously configured for
automated exchange or supply of other selected items. For example,
a battery-exchange system 109 as described herein may be used or
adapted to exchange, supply, or re-supply fuel, memory devices,
weaponry, and/or the like. In some embodiments, UAVs 400 may be
tasked with discharging or providing liquids, gasses or solids to
an area and the UAV base station 100 may be operable to supply such
liquids, gasses and/or solids to one or more UAV 400.
[0048] Additionally, UAVs 400 may be reconfigurable, and the UAV
base station 100 may be operable to configure the UAVs 400. For
example, a UAV 400 may configured to modularly and optionally carry
a camera, audio system, weapons system, liquid discharge system,
gas discharge system and/or the like, and the UAV base station 100
may be operable to configure the UAV 400 accordingly and provide
the UAV 400 with one or more desired component or module.
[0049] Turning to FIG. 8 and the elements of FIGS. 1-5, a method
800 for inserting a UAV battery pack 120 into a UAV 400 is
illustrated. The method 800 beings in block 810 where a robotic arm
system 125 moves along an X-axis and Y-axis to a selected UAV
battery pack 120 disposed in a selected battery-slot 115. In block
820, the robotic arm system 125 extends a battery-carriage 140
along a Z-axis and grasps the selected UAV battery pack 120. For
example, the battery grabber 143 and/or grabber arms 144 may grasp
the selected battery pack 120. In block 830, the robotic arm system
12(1 can retract the battery-carriage 140 along the Z-axis to
remove the UAV battery pack 120 from the battery-slot 115.
[0050] In block 840, the robotic arm system 125 can move the
removed UAV battery pack 120 proximate to the UAV 400. For example,
in various embodiments, moving the removed UAV battery pack 120
proximate to the UAV 400 may comprise moving the battery-carriage
140 moving proximate to a hatch 405 and extending the
battery-carriage 140 through the hatch 405 and proximate to the UAV
400 that is disposed on the top-plate 308 of the housing 105 in a
battery-exchange zone 340.
[0051] In block 850, the robotic arm system 125 can insert the UAV
battery pack 120 into the UAV battery-slot 510 disposed on the UAV
400 and decouple from the UAV battery pack 120. In various
embodiments the battery grabber 143 and/or grabber arms 144 may
decouple from the selected battery pack 120. The method 800 is done
in block 899.
[0052] FIG. 9 is a block diagram of a method 900 for removing a UAV
battery pack 120 from a UAV 400 and storing the UAV battery pack
120 in accordance with an embodiment. The method 900 begins in
block 910 where the robotic arm system can move proximate to a UAV
400 having a UAV battery pack 120 disposed thereon in a UAV
battery-slot 510. For example, in various embodiments, moving the
robotic arm system 125 proximate to the UAV 400, may comprise
moving die battery-carriage 140 proximate to a hatch 405 and
extending the battery-carriage 140 through the hatch 405 and
proximate to the UAV 400 that is disposed on the top-plate 308 of
the housing 105 in a battery-exchange zone 340.
[0053] In block 920, the robotic arm system 125 can grasp the UAV
battery pack 120 disposed in the UAV battery-slot 510. For example,
the battery grabber 143 and/or grabber arms 144 may grasp the
selected battery pack 120. In block 930 the robotic arm system 125
can retractably remove the UAV battery pack 120 from the UAV
battery-slot 510.
[0054] In block 930, the robotic arm system 125 can move along the
X-axis and Y-axis to a selected UAV battery-slot 155. For example,
in various embodiments, moving along the X-axis and Y-axis to a
selected UAV battery-slot 155 may include retracting through the
hatch 405 into the internal cavity 108 of the housing 105 and
moving the battery-carriage 140 in alignment with the selected UAV
battery-slot 155.
[0055] In block 940, the robotic arm system 125 can extend the
battery-carriage 140 along a Z-axis to insert the UAV battery pack
120 in the selected UAV battery-slot 115. In various embodiments,
the battery pack 120 may be charged and/or stored in the
battery-slot 115 for later charging.
[0056] The described embodiments are susceptible to various
modifications and alternative forms, and specific examples thereof
have been shown by way of example in the drawings and are herein
described in detail. It should be understood, however, that the
described embodiments are not to be limited to the particular forms
or methods disclosed, but to the contrary, the present disclosure
is to cover all modifications, equivalents, and alternatives.
* * * * *